CN114363513A - Head-mounted display equipment, camera shooting tracking method, device, system and storage medium thereof - Google Patents
Head-mounted display equipment, camera shooting tracking method, device, system and storage medium thereof Download PDFInfo
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- CN114363513A CN114363513A CN202111602737.7A CN202111602737A CN114363513A CN 114363513 A CN114363513 A CN 114363513A CN 202111602737 A CN202111602737 A CN 202111602737A CN 114363513 A CN114363513 A CN 114363513A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 10
- 238000003384 imaging method Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention discloses a camera tracking method, a device and a system of a head-mounted display device, the head-mounted display device and a computer readable storage medium, wherein the method comprises the following steps: acquiring tracking position information of tracking equipment; acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information; controlling a rotating lens in the camera to steer by using a steering control instruction; according to the method and the device, the steering control instruction of the camera in the head-mounted display device is acquired according to the tracking position information, the tracking position information of the tracking device to be tracked can be utilized, and the steering control instruction for controlling the rotating lens in the camera is acquired, so that the rotating lens in the camera is controlled to correspondingly steer, the active camera tracking of the tracking device is realized, the defects that the traditional passive tracking mode is single in acquisition content and lack of real-time performance can be overcome, the richness and the real-time performance of the acquisition content of the camera are improved, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of head-mounted display device technologies, and in particular, to a method, an apparatus, a system, a head-mounted display device, and a computer-readable storage medium for camera tracking of a head-mounted display device.
Background
Currently, a head-mounted display device such as a VR (Virtual Reality) head display can block human vision and hearing from the outside, and guide a user to generate a sense of being in a Virtual environment. In the prior art, for example, the camera tracking scheme of the VR tracking system adopts a passive tracking mode, that is, the image acquisition view angle of the camera is fixed, and the image acquisition range of the camera is adjusted and updated by rotating the head of the user; with the technical development of head-mounted display devices, passive tracking methods have been increasingly unable to meet current user requirements due to limitations of content collection and lack of real-time performance.
Therefore, how to realize the active camera tracking of the head-mounted display device, the defects of single acquisition content and lack of real-time performance of the traditional passive tracking mode are overcome, and the user experience is improved.
Disclosure of Invention
The invention aims to provide a camera tracking method, a camera tracking device, a camera tracking system, a head-mounted display device and a computer readable storage medium of the head-mounted display device, so as to realize active camera tracking of the head-mounted display device, overcome the defects of single acquisition content and lack of real-time performance of a traditional passive tracking mode, and improve user experience.
In order to solve the above technical problem, the present invention provides a camera tracking method for a head-mounted display device, including:
acquiring tracking position information of tracking equipment;
acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information;
and controlling a rotating lens in the camera to rotate by utilizing the steering control instruction.
Optionally, the acquiring tracking position information of the tracking device includes:
receiving position prediction information sent by the tracking equipment; the position prediction information is position information obtained by the tracking equipment through motion trend detection.
Optionally, the obtaining, according to the tracking position information, a steering control instruction of a camera in the head-mounted display device includes:
judging whether the tracking position information is in the current detection range of the camera or not;
and if not, generating the steering control instruction according to the tracking position information.
Optionally, the controlling, by using the steering control instruction, the rotating lens in the camera to steer includes:
and sending the steering control instruction to the camera head, and controlling the rotating lens to rotate to an angle corresponding to the steering control instruction, so that the image data acquired by the camera head comprises an image at a position corresponding to the tracking position information.
Optionally, after obtaining a steering control instruction of a camera in the head-mounted display device according to the tracking position information, the method further includes:
generating a coordinate system configuration instruction of the tracking equipment according to the steering control instruction;
and sending the coordinate system configuration instruction to the tracking equipment, and controlling the tracking equipment to switch to adopt the coordinate system corresponding to the coordinate system configuration instruction.
Optionally, the generating a coordinate system configuration instruction of the tracking device according to the steering control instruction includes:
determining the field angle information of the camera according to the rotation direction information and the rotation angle information in the steering control command;
and generating the coordinate system configuration instruction according to the field angle information.
The invention also provides a camera tracking device of the head-mounted display equipment, which comprises:
the position acquisition module is used for acquiring tracking position information of the tracking equipment;
the instruction acquisition module is used for acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information;
and the steering control module is used for controlling the rotating lens in the camera to steer by utilizing the steering control instruction.
The present invention also provides a head-mounted display device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the camera tracking method of the head-mounted display device as described above when executing the computer program.
The invention also provides a camera tracking system of the head-mounted display device, which comprises: the head mounted display device and tracking device as described above; wherein, wear display device including be provided with the camera of rotating lens.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the camera tracking method of a head-mounted display device as described above.
The invention provides a camera tracking method of head-mounted display equipment, which comprises the following steps: acquiring tracking position information of tracking equipment; acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information; controlling a rotating lens in the camera to steer by using a steering control instruction;
therefore, according to the invention, the steering control instruction of the camera in the head-mounted display device is acquired according to the tracking position information, and the tracking position information of the tracking device to be tracked can be utilized to acquire the steering control instruction for controlling the rotating lens in the camera, so that the rotating lens in the camera is controlled to correspondingly steer, the active camera tracking of the tracking device is realized, the defects of single acquisition content and lack of real-time performance of the traditional passive tracking mode can be overcome, the richness and real-time performance of the acquisition content of the camera are improved, and the user experience is improved. In addition, the invention also provides a camera tracking device and a camera tracking system of the head-mounted display equipment, the head-mounted display equipment and a computer readable storage medium, and the camera tracking device, the system, the head-mounted display equipment and the computer readable storage medium also have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a camera tracking method of a head-mounted display device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a frame of a camera tracking system of a head-mounted display device according to an embodiment of the present invention;
fig. 3 is a schematic view of a usage scenario of a camera tracking system of a head-mounted display device according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating coordinate system adjustment of another camera tracking method for a head-mounted display device according to an embodiment of the present invention;
fig. 5 is a block diagram of a camera tracking apparatus of a head-mounted display device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a camera tracking method of a head-mounted display device according to an embodiment of the present invention. The method can comprise the following steps:
step 101: tracking position information of the tracking device is acquired.
The tracking device in this embodiment may be a device that needs to be tracked by camera shooting, that is, a device that needs to be tracked by a camera in the head-mounted display device; the tracking device in this embodiment may be in communication connection with the head-mounted display device, so that the processor of the head-mounted display device may obtain the tracking position information of the tracking device by using communication with the tracking device.
Specifically, the specific device type of the tracking device in this embodiment may be set by a designer according to a practical scenario and a user requirement, for example, the tracking device may be a handle device, such as a VR handle in communication (e.g., wired connection or wireless connection) with a VR head display in fig. 2; the tracking device may also be a mobile terminal device communicatively connected to the head-mounted display device, such as a smart watch, a bracelet, a mobile phone, and the like.
It is to be understood that the tracking position information in this step may be information of a position that needs to be tracked by the camera, that is, information of a position that needs to be tracked by the camera in the head-mounted display device. The specific content of the tracking position information in the step can be set by a designer according to a practical scene and user requirements, for example, the tracking position information can be real-time position information of the tracking device, namely real-time position information acquired by the tracking device in real time; the tracking location information may also be predicted location information of the tracking device, such as location information obtained through motion trend detection. The present embodiment does not set any limit to this.
Specifically, the specific way in which the processor of the head-mounted display device acquires the tracking position information of the tracking device in this step may be set by the designer according to the practical scene and the user's requirement, and if the tracking position information is the real-time position information of the tracking device, the processor may directly receive the real-time position information sent by the tracking device. When the tracking position information is position prediction information of the tracking device, the processor may directly receive the position prediction information sent by the tracking device, for example, the position prediction information may be position information obtained by the tracking device through motion trend detection; the processor can also utilize the received real-time position information sent by the tracking device to obtain the position prediction information of the tracking device through motion trend detection. The present embodiment does not set any limit to this.
Correspondingly, in the case that the processor of the head-mounted display device receives the position prediction information sent by the tracking device, the method provided by this embodiment may further include, before step 101, a process in which the tracking device acquires and sends the position prediction information to the head-mounted display device. For example, the tracking device may utilize the collected real-time location information, derive from motion trend detection, and send location prediction information to the head-mounted display device. The tracking equipment can also judge whether the rotating lens in the camera needs to turn or not according to position prediction information obtained through motion trend detection; if yes, sending the position prediction information to the head-mounted display equipment; if not, the process is ended or the real-time position information is continuously acquired and the position prediction information is obtained. For example, as shown in fig. 2, the VR handle (i.e., the tracking device) may detect a VR handle movement trend through an internal IMU (inertial measurement unit) to obtain position prediction information; the field angle of the camera under the current angle condition does not exceed the camera detection range and serves as a threshold, when the threshold is reached, it is determined that the rotating lens needs to be steered, and then the position prediction information is sent to a processor of a VR head display (namely, a head-mounted display device), so that the processor can control the rotating lens to effectively steer by utilizing the received position prediction information (namely, tracking position information).
Step 102: and acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information.
The steering control instruction in this step may be an instruction for controlling the steering of the rotating lens in the camera, that is, the camera may control the rotating lens to steer correspondingly according to the received steering control instruction. As to the specific content of the steering control command in this step, a designer may control the rotating lens in the camera to correspondingly steer and increase the Field angle (FOV) of the fixed camera according to a practical scene and a user requirement, for example, the steering control command may include the rotation angle information of the rotating lens, and may also include the rotation angle information and the rotation direction information of the rotating lens.
Specifically, the specific manner in which the processor of the head-mounted display device obtains the steering control instruction of the camera in the head-mounted display device according to the tracking position information can be set by a designer according to a practical scene and a user requirement, for example, the processor can directly generate the steering control instruction according to the tracking position information, for example, the processor can generate the steering control instruction by using a target rotation angle corresponding to the position prediction information and a current rotation angle of the rotating lens, so that the camera can control the rotating lens to rotate to the target rotation angle according to the steering control instruction. The processor can also judge whether the rotating lens in the camera needs to turn or not according to the tracking position information; if yes, generating a steering control instruction according to the tracking position information; if not, the process can be ended or step 101 can be returned to continue to acquire the tracking position information; for example, the processor may determine whether tracking location information (e.g., location prediction information) is within a current detection range of the camera; if not, the rotating lens can be determined to be required to be steered, and a steering control instruction can be generated according to the tracking position information; if yes, it can be determined that the rotating lens does not need to be steered, and the process may be ended or the process returns to step 101 to continue to acquire tracking position information.
Step 103: and controlling the rotating lens in the camera to rotate by using the steering control command.
It should be noted that, in this step, the processor of the head-mounted display device may control the rotating lens in the camera to correspondingly steer by using the obtained steering control instruction, so that the image data acquired by the camera after steering may include an image at a position corresponding to the tracking position information.
Specifically, this embodiment does not limit the specific manner in which the processor controls the rotating lens in the camera to steer by using the steering control instruction, for example, the processor may directly send the steering control instruction to the camera, that is, in this step, the processor sends the steering control instruction to the camera, and controls the rotating lens to rotate to the angle corresponding to the steering control instruction, so that the image data acquired by the camera includes the image of the position corresponding to the tracking position information, for example, the center of the picture acquired by the camera may be the position corresponding to the tracking position information.
It is understood that the method provided by this embodiment may further include an adjustment control process for the coordinate system of the tracking device, and as in this embodiment, the processor may generate and send a coordinate system configuration instruction to the tracking device after step 102, so that the tracking device may adjust the coordinate system (e.g., the IMU planar coordinate system) to a coordinate system corresponding to the camera view angle after the rotating lens is turned according to the coordinate system configuration instruction. For example, the processor may generate coordinate system configuration instructions for the tracking device from the steering control instructions before or after step 103; and sending the coordinate system configuration instruction to the tracking equipment, and controlling the tracking equipment to switch to adopt the coordinate system corresponding to the coordinate system configuration instruction. If the processor can determine the field angle information of the camera according to the rotation direction information and the rotation angle information in the steering control command; generating a coordinate system configuration instruction according to the angle of view information so as to control the tracking equipment to switch and adopt a coordinate system corresponding to the angle of view information; that is, the processor may obtain the target rotation angle and determine the coordinate system corresponding to the target rotation angle according to the rotation direction information and the rotation angle information in the steering control command by using the coordinate system corresponding to each rotation angle stored in advance, so as to generate the coordinate system configuration command corresponding to the coordinate system, thereby controlling the tracking device to switch to adopt the coordinate system.
Correspondingly, as shown in fig. 2 and fig. 3, in this embodiment, after step 103, the processor may also generate a coordinate system configuration instruction of the tracking device according to image data (i.e., video information) collected by the camera after the rotating of the mirror block is turned; and sending the coordinate system configuration instruction to the tracking equipment, and controlling the tracking equipment to switch to adopt the coordinate system corresponding to the coordinate system configuration instruction. As shown in fig. 4, since the motion trend detection of the VR handle requires a reference coordinate system, different plane coordinate systems can be adopted according to different rotation angles of the rotating lens of the camera; after the rotating lens rotates alpha, the lens can be converted from the plane coordinate system 1 to the plane coordinate system 2 according to the different angles of view of the cameras by using different plane coordinate systems (such as an IMU plane coordinate system) set according to the angles of view of the different cameras.
Further, the method provided in this embodiment may further include a wearing detection process of the head-mounted display device, for example, in this embodiment, the processor may determine whether the powered-on head-mounted display device is in a wearing state before step 101; if yes, go to step 101; if not, the process can be ended; thereby reducing power consumption of the head mounted display device.
In the embodiment of the invention, the steering control instruction of the camera in the head-mounted display device is acquired according to the tracking position information, and the tracking position information of the tracking device to be tracked can be utilized to acquire the steering control instruction for controlling the rotating lens in the camera, so that the rotating lens in the camera is controlled to correspondingly steer, the active camera tracking of the tracking device is realized, the defects of single acquisition content and lack of real-time performance of a traditional passive tracking mode can be overcome, the richness and real-time performance of the acquisition content of the camera are improved, and the user experience is improved.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a camera tracking apparatus for a head-mounted display device, and the camera tracking apparatus for a head-mounted display device described below and the camera tracking method for a head-mounted display device described above may be referred to correspondingly.
Referring to fig. 5, fig. 5 is a block diagram illustrating a camera tracking device of a head-mounted display apparatus according to an embodiment of the present invention. The apparatus may include:
a position obtaining module 10, configured to obtain tracking position information of a tracking device;
the instruction acquisition module 20 is configured to acquire a steering control instruction of a camera in the head-mounted display device according to the tracking position information;
and the steering control module 30 is used for controlling the rotating lens in the camera to steer by using the steering control instruction.
Optionally, the location obtaining module 10 may be specifically configured to receive location prediction information sent by the tracking device; the position prediction information is position information obtained by detecting the motion trend of the tracking equipment.
Optionally, the instruction obtaining module 20 may include:
the judging submodule is used for judging whether the tracking position information is in the current detection range of the camera or not;
and the instruction generation submodule is used for generating a steering control instruction according to the tracking position information if the tracking position information is not in the current detection range of the camera.
Optionally, the steering control module 30 may be specifically configured to send a steering control instruction to the camera, and control the rotating lens to rotate to an angle corresponding to the steering control instruction, so that the image data acquired by the camera includes an image of a position corresponding to the tracking position information.
Optionally, the apparatus may further include:
the instruction generating module is used for generating a coordinate system configuration instruction of the tracking equipment according to the steering control instruction;
and the coordinate configuration module is used for sending the coordinate system configuration instruction to the tracking equipment and controlling the tracking equipment to switch the coordinate system corresponding to the coordinate system configuration instruction.
Optionally, the instruction generating module may include:
the field angle determining submodule is used for determining field angle information of the camera according to the rotation direction information and the rotation angle information in the steering control command;
and the instruction generating submodule is used for generating a coordinate system configuration instruction according to the field angle information.
In this embodiment, according to the instruction obtaining module 20, the steering control instruction of the camera in the head-mounted display device is obtained according to the tracking position information, and the tracking position information of the tracking device to be tracked can be utilized to obtain the steering control instruction for controlling the rotating lens in the camera, so that the rotating lens in the camera is controlled to correspondingly steer, the active camera tracking of the tracking device is realized, the defects that the acquisition content of the traditional passive tracking mode is single and the real-time performance is poor can be overcome, the richness and the real-time performance of the acquisition content of the camera are improved, and the user experience is improved.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a head-mounted display device, and a head-mounted display device described below and a camera tracking method of the head-mounted display device described above may be referred to in correspondence.
An embodiment of the present invention provides a head-mounted display device, including:
a memory for storing a computer program;
a processor for implementing the steps of the camera tracking method of the head-mounted display device provided by the above embodiments when executing the computer program.
The head-mounted display device in the embodiment can be provided with a camera, and a rotating lens can be arranged in the camera.
Specifically, the Head-mounted Display device provided in this embodiment may be specifically an HMD (Head mounted Display) device such as a VR device, an AR device, or an MR device, as shown in the VR Head Display in fig. 2.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a camera tracking system of a head-mounted display device, and the camera tracking system of the head-mounted display device described below and the camera tracking method of the head-mounted display device described above may be referred to correspondingly.
The embodiment of the invention provides a camera tracking system of a head-mounted display device, which comprises: head mounted display devices and tracking devices as described above; wherein, wear display device including be provided with the camera of rotatory lens.
In particular, the tracking device in this embodiment may be communicatively coupled (e.g., wired or wirelessly) to the head-mounted display device. The tracking device may be embodied as a handle device, such as the VR handle in fig. 2 communicatively coupled to the VR headset; the tracking device may also be a mobile terminal device communicatively connected to the head-mounted display device, such as a smart watch, a bracelet, a mobile phone, and the like.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium, and a computer-readable storage medium described below and a camera tracking method of a head-mounted display device described above may be referred to in correspondence.
The embodiment of the invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the camera tracking method of a head-mounted display device provided by the above method embodiment are realized.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The apparatus, the system, the head-mounted display device and the computer-readable storage medium disclosed by the embodiments correspond to the method disclosed by the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
The present invention provides a method, an apparatus, a system, a head-mounted display device and a computer readable storage medium for tracking camera of the head-mounted display device. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A camera tracking method of a head-mounted display device is characterized by comprising the following steps:
acquiring tracking position information of tracking equipment;
acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information;
and controlling a rotating lens in the camera to rotate by utilizing the steering control instruction.
2. The camera tracking method of the head-mounted display device according to claim 1, wherein the acquiring tracking position information of the tracking device includes:
receiving position prediction information sent by the tracking equipment; the position prediction information is position information obtained by the tracking equipment through motion trend detection.
3. The camera tracking method of the head-mounted display device according to claim 1, wherein the obtaining of the steering control instruction of the camera in the head-mounted display device according to the tracking position information comprises:
judging whether the tracking position information is in the current detection range of the camera or not;
and if not, generating the steering control instruction according to the tracking position information.
4. The camera tracking method of the head-mounted display device according to claim 1, wherein the controlling the rotating lens in the camera to steer by using the steering control instruction comprises:
and sending the steering control instruction to the camera head, and controlling the rotating lens to rotate to an angle corresponding to the steering control instruction, so that the image data acquired by the camera head comprises an image at a position corresponding to the tracking position information.
5. The camera tracking method of the head-mounted display device according to any one of claims 1 to 4, further comprising, after acquiring the steering control instruction of the camera in the head-mounted display device according to the tracking position information:
generating a coordinate system configuration instruction of the tracking equipment according to the steering control instruction;
and sending the coordinate system configuration instruction to the tracking equipment, and controlling the tracking equipment to switch to adopt the coordinate system corresponding to the coordinate system configuration instruction.
6. The imaging tracking method of the head-mounted display device according to claim 5, wherein the generating of the coordinate system configuration instruction of the tracking device according to the steering control instruction comprises:
determining the field angle information of the camera according to the rotation direction information and the rotation angle information in the steering control command;
and generating the coordinate system configuration instruction according to the field angle information.
7. A camera tracking apparatus for a head-mounted display device, comprising:
the position acquisition module is used for acquiring tracking position information of the tracking equipment;
the instruction acquisition module is used for acquiring a steering control instruction of a camera in the head-mounted display equipment according to the tracking position information;
and the steering control module is used for controlling the rotating lens in the camera to steer by utilizing the steering control instruction.
8. A head-mounted display device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the camera tracking method of a head mounted display device according to any of claims 1 to 6 when executing said computer program.
9. A camera tracking system for a head mounted display device, comprising: the head mounted display device and tracking device of claim 8; wherein, wear display device including be provided with the camera of rotating lens.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the camera tracking method of a head-mounted display device according to any one of claims 1 to 6.
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| CN207895153U (en) * | 2018-01-28 | 2018-09-21 | 刘维 | A kind of adjustable VR glasses of lens angle |
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Effective date of registration: 20221123 Address after: No. 500 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266100 Applicant after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 workshop 1, phase III, Geer Photoelectric Industrial Park, 3999 Huixian Road, Yongchun community, Qingchi street, Weifang High tech Zone, Weifang City, Shandong Province Applicant before: GoerTek Optical Technology Co.,Ltd. |